Static Modeling and Analysis of Continuum Surgical Robots
Refereed conference paper presented and published in conference proceedings

香港中文大學研究人員
替代計量分析
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其它資訊
摘要Continuum Robots have been investigated increasingly in recent years due to their potential applications in minimally invasive surgery (MIS). The constant curvature assumption is widely adopted in modeling the motion of continuum robots. However, due to their limited backbone rigidity, the backbone bending or end-effector position is significantly affected by both the internal driven force and external load. This paper focuses on the static analysis of the continuum robots. Statics model of the robot is established based on the Newton-Euler method. Gravity of the elastic tubes and the disks are both considered in the modeling. Based on the static model, the shape of the robot can be calculated with given external loads and internal driven force (i.e. cable tension). The model is validated using finite element method (FEM). The error is less than 0.02 percent. Simulation results reveal that, the shape of the robot is significantly affected by the external load. A S-type bending can be observed with certain loading conditions. Therefore, the commonly adopted constant curvature is invalid in loaded circumstances.
出版社接受日期03.12.2016
著者Yuan Han, Li Zheng, Wang Hongmin, Song Chengzhi
會議名稱Robotics and Biomimetics (ROBIO), 2016 IEEE International Conference on
會議開始日03.12.2016
會議完結日07.12.2016
會議地點qingdao
會議國家/地區中國
會議論文集題名Robotics and Biomimetics (ROBIO), 2016 IEEE International Conference on
出版作品名稱Static modeling and analysis of continuum surgical robots
出版年份2016
出版社IEEE
頁次265 - 271
語言美式英語

上次更新時間 2021-11-01 於 01:36